The problem is that the lens has become stuck in the barrel. There are some DIY solutions you could try, but the
probability is that you will have to get it fixed by a professional.

Use
these at own risk as it may further damage the camera.

Firstly ,
try connecting your ac adapter or usb cable.

Try holding the
shutter button while switching on the camera.

Look at the lens ,
and if some of the lens 'circles' is misaligned or not concentric then
try wiggling it (while holding camera lens down).

Try gently
pushing or pulling the lens when it extends but this is risky as it may
cause the lens barrel to slip out of its guidance system.

Another
way to do this is to place the camera lens down on a hard surface and
then power it up. Be sure to use a soft cloth or something similar as to
not scratch your lens or casing. Let the lens push the camera up and
down a few times and sometimes the little resistance provided by the
camera is enough to get things going again.

Try hitting your
camera near the lens on the body with the soft tissue on the palm of
your hand.

Other than that , I would take the camera to a repair
center for a evaluation to see if it would cost more to repair than to
replace the camera.

If it is still under warranty I would suggest
you take it in before trying any of these steps and remove any
off-brand batteries or accessories as some stores are really fussy about
warranty repairs on camera's with non-brand accessories.

1 Suggested Answer

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The lens error is usually caused by mechanical faults concerning lens assembly. This happens because there is dirt inside the lens (sand dust), or one part in the lens assembly is bad or went out of place.Because of this he lens cannot extend or retract fully, the error is detected and lens error is returned.

Sometimes this can be fixed playing with the lens during extraction or retraction to help the lens asset getting back to normal. If if does not extend tapping gently the back of the camera, and if it does not retract helping lens back in while turning camera respectively on and off.

More often the camera lens must be disassembled and re-assembled by a technician to fix the problem.

With Battery out try to pull the lens towards outside
Do that gently do Don't rip it off !!!
Probably you will hear a click sound and If you do,
than put the battery back turn on and you should be fine
Every case is different so of the lens is jammed this will help
If the lens assembly is damaged than the only way is to sell the rest of the camera for parts.

If it is under warranty Casio can fix it for free. other wise you end up paying the labor/parts. Can become very costly. I suggest open the case and replace the plastic housing that hosts the saw wheels. Should fix the problem

I did the same thing to my camera (twice) and I just took it back to the place where I got it. Since it was within the 6 month return period- they let me exchange it for no charge.
They told me that when the camera hits something while the lens is out, it knocks the lens out of its groove, which is why you can't get it to retract.